空间机器人

On the other side, there is some conformity between them, such as trajectory planning in Cartesian space.

从另一方面来看，空间机器人与地面机器人也有一些相同之处，如笛卡尔空间的轨迹规划问题等等。

This method realizes the whole processes of autonomous path planning for free-floating space robot under Cartesian workspace, having good applicable foreground.

在已知空间机器人轨迹的条件下，采用空间机器人的逆动力学模型求解了各个关节的驱动力矩，并对真实轨迹和模拟轨迹进行了对比分析，保证误差在规定的控制范围。

Based on the common D-H modeling methods for ground robot and the conservation of momentum and conservation of angular momentum suitable for SR, continuous motion trajectory control modeling algorithm for SR is developed.

基于地面机器人常用的D-H建模方法和空间机器人满足的动量守恒和角动量守恒原理，提出了SR连续运动轨迹控制建模算法。

The tangent space and normal space of the robot motion curve is constructed by using Newton-Euler orthogonal method, which satisfies the restrictions of linear and angular momentum conservation of free-floating space robot system. An analytical expression of joint actuation torque in the floating state is given by using this method.

根据空间机器人自由漂浮状态时系统动量守恒的特点，采用Newton-Euler正交方法构建了满足系统动量守恒约束条件的空间机器人运动曲线法空间与切空间基底，并以此基础得到了自由飘浮状态下的空间机器人关节力矩的显式表达式。

With development of space technology, space robots especially to free-floating space robots are applied widely.

空间技术的发展使得空间机器人的应用更加广泛，特别是自由漂浮空间机器人(Free-Floating Space Robot)。

As each carrying fuel of space robot is limited, it is very important to improve the efficiency of space robot and extension of its in-orbit life. This paper analyzed multi space station path planning problem.

空间机器人每次携带的燃料有限，提高空间机器人的工作效率以及延长其在轨寿命研究具有重要意义，分析了空间机器人多空间站访问问题。

Along with more regular space activities and technology development of smallsatellite technique, intelligent space robot and space automatization, related researchproposes have been constituted, related key technologies have been conquered and flight demonstrations have been carrying on.

随着空间活动的更加频繁，小卫星技术、智能空间机器人、空间自主与自动化等技术的发展，许多空间技术先进国家均制定了相关研究计划，已经和正在进行相关的关键技术攻关和关键技术的飞行演示验证。

Space robot is a robot that works in the space.

我们把工作在外层空间的机器人称为空间机器人。

In this paper, a path planning method based on GA is presented. Firstly, the model of the space robot is built to display the mapping of the end velocity and the joint velocity. Then the optimal algorithm based on genetic algorithm is presented to search the optimal solution which minimizes the disturbance of base attitude in the feasible solution space. Finally, an illustrative example is used to verify the feasibility of the algorithm.

基于GA研究机械臂运动对基座的姿态扰动问题，首先，建立空间机器人的运动学模型及空间机器人末端与关节速度之间的映射关系；接着，应用GA作为最优化算法，在空间机器人可行解空间中，寻找最优解得到最优路径，以达到对基座姿态干扰最小的目的；最后，通过数值仿真实验验证算法的实用性。

Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free-flying space robot.

自由飞行空间机器人的姿态控制可考虑利用反作用轮或反作用喷气装置以维持机器人本体姿态不变，但这种方法存在的最大问题是消耗燃料，直接影响机器人的轨道寿命，同时对系统产生振动而导致系统不稳定。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了